U.S. patent application number 16/022887 was filed with the patent office on 2020-01-02 for system and method for monitoring the frame levelness of an agricultural implement.
This patent application is currently assigned to CNH Industrial America LLC. The applicant listed for this patent is CNH Industrial America LLC. Invention is credited to Luca Ferrari, Jason Fox, Trevor Stanhope.
Application Number | 20200000005 16/022887 |
Document ID | / |
Family ID | 69054525 |
Filed Date | 2020-01-02 |
United States Patent
Application |
20200000005 |
Kind Code |
A1 |
Stanhope; Trevor ; et
al. |
January 2, 2020 |
SYSTEM AND METHOD FOR MONITORING THE FRAME LEVELNESS OF AN
AGRICULTURAL IMPLEMENT
Abstract
In one aspect, a system for monitoring the frame levelness of an
agricultural implement include first and second sensors configured
to capture data indicative of a position differential defined
between a soil surface and a portion of an a first and second
ground engaging tool positioned below the soil surface,
respectively. The captured data may be associated at least
partially with the receipt of sensor signals reflected off of the
portion of the associated ground engaging tool positioned below the
soil surface. The system may also include a controller configured
to determine penetration depths of the first and second ground
engaging tools based on the captured data received from the first
and second sensors, respectively. The controller may also be
configured to monitor the frame levelness based on a penetration
depth differential defined between the first and second penetration
depths.
Inventors: |
Stanhope; Trevor; (Darien,
IL) ; Fox; Jason; (Chicago, IL) ; Ferrari;
Luca; (Modena, IT) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
CNH Industrial America LLC |
New Holland |
PA |
US |
|
|
Assignee: |
CNH Industrial America LLC
|
Family ID: |
69054525 |
Appl. No.: |
16/022887 |
Filed: |
June 29, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01B 63/008 20130101;
A01B 63/002 20130101; A01B 63/32 20130101; G01B 11/22 20130101;
A01B 63/22 20130101; G01S 13/88 20130101; A01B 63/1112 20130101;
G01S 13/89 20130101; A01B 35/08 20130101; A01B 35/26 20130101; A01B
35/32 20130101; A01B 15/14 20130101; A01B 49/027 20130101; A01B
79/005 20130101 |
International
Class: |
A01B 79/00 20060101
A01B079/00; A01B 15/14 20060101 A01B015/14; A01B 35/32 20060101
A01B035/32; A01B 63/00 20060101 A01B063/00; G01B 11/22 20060101
G01B011/22; G01S 13/89 20060101 G01S013/89 |
Claims
1. A system for monitoring the frame levelness of an agricultural
implement, the system comprising: a frame extending in a
longitudinal direction between a forward end and an aft end and in
a lateral direction between a first side and a second side; first
and second ground engaging tools coupled to the frame, the first
and second ground engaging tools being spaced apart from each other
in at least one of the longitudinal direction or the lateral
direction; a first sensor configured to capture data indicative of
a first position differential defined between a soil surface and a
portion of the first ground engaging tool positioned below the soil
surface, the captured data being associated at least partially with
the receipt of sensor signals reflected off of the portion of the
first ground engaging tool positioned below the soil surface; a
second sensor configured to capture data indicative of a second
position differential defined between the soil surface and a
portion of the second ground engaging tool positioned below the
soil surface, the captured data being associated at least partially
with the receipt of sensor signals reflected off of the portion of
the second ground engaging tool positioned below the soil surface;
and a controller communicatively coupled to the first and second
sensors, the controller being configured to: determine a first
penetration depth of the first ground engaging tool based on the
captured data received from the first sensor; determine a second
penetration depth of the second ground engaging tool based on the
captured data received from the second sensor; and monitor a frame
levelness associated with the frame based on a penetration depth
differential defined between the first and second penetration
depths.
2. The system of claim 1, wherein the sensor signals comprise at
least one of radio wave signals, gamma ray signals, or x-ray
signals.
3. The system of claim 1, wherein the monitored penetration depth
differential is indicative of at least one of pitch or roll of the
frame.
4. The system of claim 3, wherein the first and second ground
engaging tools are spaced apart from each other in the lateral
direction, the monitored penetration depth differential being
indicative of roll of the frame.
5. The system of claim 3, wherein the first and second ground
engaging tools are spaced apart from each other in the longitudinal
direction, the monitored penetration depth differential being
indicative of pitch of the frame.
6. The system of claim 1, wherein the controller is further
configured initiate a control action associated with adjusting the
frame levelness based on a magnitude of the monitored penetration
depth differential.
7. The system of claim 6, wherein the controller is configured to
compare the monitored penetration depth differential to a maximum
penetration depth differential threshold set for the implement, the
controller being configured to initiate the control action when the
monitored penetration depth differential exceeds the maximum
penetration depth differential threshold.
8. The system of claim 6, further comprising: a plurality of wheels
coupled to the frame, the control action being associated with
adjusting a position of one or more of the wheels relative to the
frame.
9. The system of claim 1, further comprising: a third sensor
configured to capture data indicative of a first operational
parameter of the implement, the controller further being configured
to determine a second operational parameter based on data received
from at least two of the first sensor, the second sensor, or the
third sensor.
10. The system of claim 1, wherein the first and second ground
engaging tools are pivotally coupled to the frame, further
comprising: a first actuator coupled between the frame and the
first ground engaging tool and a second actuator coupled between
the frame and the second ground engaging tool, the controller being
further configured initiate a control action associated with at
least one of adjusting a position of the first ground engaging tool
relative to the frame or adjusting a position of the second ground
engaging tool relative to the frame based on a magnitude of the
monitored penetration depth differential.
11. A system for monitoring the penetration depths of tools
associated with an agricultural implement, the system comprising: a
frame; a ground engaging tool coupled to the frame; a sensor
configured to capture data indicative of a position differential
defined between a soil surface of the ground and a portion of the
ground engaging tool positioned below the soil surface, the
captured data being associated at least partially with the receipt
of sensor signals reflected off of both the soil surface and the
portion of the second ground engaging tool positioned below the
soil surface; and a controller communicatively coupled to the
sensor, the controller being configured to: determine a first
distance between the frame and the soil surface based on the
captured data received from the sensor; determine a second distance
between the frame and a tip of the ground engaging tool positioned
below the soil surface based on the captured data received from the
sensor; and determine a penetration depth of the ground engaging
tool based on a differential defined between the first and second
distances.
12. The system of claim 11, wherein the sensor signals comprise at
least one of radio wave signals, gamma ray signals, or x-ray
signals.
13. A method for monitoring the frame levelness of an agricultural
implement, the implement including a frame extending in a
longitudinal between a forward end and an aft end and in a lateral
direction between a first side and a second side, the implement
further including first and second ground engaging tools coupled to
the frame, the first and second ground engaging tools being spaced
apart from each other in at least one of the longitudinal direction
or the lateral direction, the method comprising: determining, with
a computing device, a first penetration depth of the first ground
engaging tool based on data received from a first sensor, the first
sensor being configured to capture data indicative of a first
position differential defined between a soil surface and a portion
of the first ground engaging tool positioned below the soil
surface, the captured data being associated at least partially with
the receipt of sensor signals reflected off of the portion of the
first ground engaging tool positioned below the soil surface;
determining, with the computing device, a second penetration depth
of the second ground engaging tool based on data received from a
second sensor, the second sensor being configured to capture data
indicative of a second position differential defined between the
soil surface and a portion of the second ground engaging tool
positioned below the soil surface, the captured data being
associated at least partially with the receipt of sensor signals
reflected off of the portion of the second ground engaging tool
positioned below the soil surface; and monitoring, with the
computing device, a frame levelness associated with the frame based
on a penetration depth differential defined between the first and
second penetration depths; and initiating, with the computing
device, a control action associated with adjusting the frame
levelness based on a magnitude of the monitored parameter
differential.
14. The method of claim 13, wherein the sensor signals comprise at
least one of radio wave signals, gamma ray signals, or x-ray
signals.
15. The method of claim 13, wherein the monitored penetration depth
differential is indicative of at least one of pitch or roll of the
frame.
16. The method of claim 15, wherein the first and second ground
engaging tools are spaced apart from each other in the lateral
direction, the monitored penetration depth differential being
indicative of roll of the frame.
17. The method of claim 15, wherein the first and second ground
engaging tools are spaced apart from each other in the longitudinal
direction, the monitored penetration depth differential being
indicative of pitch of the frame.
18. The method of claim 13, further comprising: comparing, with the
computing device, the monitored penetration depth differential to a
maximum penetration depth differential threshold set for the
implement; and initiating, with the computing device, the control
action when the monitored penetration depth differential exceeds
the maximum penetration depth differential threshold.
19. The method of claim 13, wherein the implement further includes
a plurality of wheels, the control action being associated with
adjusting a position of one or more of the wheels relative to the
frame.
20. The method of claim 13, further comprising: determining, with
the computing device, a first operational parameter of the
implement based on data received from a third sensor; and
determining, with the computing device, a second operational
parameter based on at least two of the first penetration depth, the
second penetration depth, or the first operational parameter.
Description
FIELD
[0001] The present disclosure generally relates to agricultural
implements and, more particularly, to systems and methods for
monitoring the frame levelness of an agricultural implement based
on penetration depths of ground engaging tools mounted on the
implement.
BACKGROUND
[0002] It is well known that, to attain the best agricultural
performance from a field, a farmer must cultivate the soil,
typically through a tillage operation. Modern farmers perform
tillage operations by pulling a tillage implement behind an
agricultural work vehicle, such as a tractor. As such, the tillage
implement typically includes a plurality of wheels to facilitate
towing of the implement. The wheels may be mounted at various
locations on a frame of the implement to support the implement
relative to the ground. Additionally, tillage implements generally
include a plurality of ground engaging tools coupled to the frame
that are configured to penetrate the soil to a particular depth.
The ground engaging tools may be spaced apart from each other on
the frame so as to provide uniform tilling to the swath of field
over which the implement is towed.
[0003] When performing a tillage operation, it is desirable to
create a level and uniform layer of tilled soil across the field to
form a proper seedbed for subsequent planting operations. However,
variations in one or more operating parameters of the implement may
cause the implement frame to pitch, roll, or otherwise be oriented
at an angle relative to the ground. In such instances, the ground
engaging tools mounted on the frame may penetrate the ground to
differing depths, thereby resulting in an uneven seedbed.
Unfortunately, current tillage systems fail to account for such
variations in the implement's operating parameters when performing
a tillage operation.
[0004] Accordingly, improved systems and methods for monitoring
frame levelness of an agricultural implement would be welcomed in
the technology.
BRIEF DESCRIPTION
[0005] Aspects and advantages of the technology will be set forth
in part in the following description, or may be obvious from the
description, or may be learned through practice of the
technology.
[0006] In one aspect, the present subject matter is directed to a
system for monitoring the frame levelness of an agricultural
implement. The system may include a frame extending in a
longitudinal direction between a forward end and an aft end and in
a lateral direction between a first side and a second side. The
system may also include first and second ground engaging tools
coupled to the frame, with the first and second ground engaging
tools being spaced apart from each other in at least one of the
longitudinal direction or the lateral direction. The system may
further include a first sensor configured to capture data
indicative of a first position differential defined between a soil
surface and a portion of the first ground engaging tool positioned
below the soil surface. The captured data may be associated at
least partially with the receipt of sensor signals reflected off of
the portion of the first ground engaging tool positioned below the
soil surface. Additionally, the system may include a second sensor
configured to capture data indicative of a second position
differential defined between the soil surface and a portion of the
second ground engaging tool positioned below the soil surface. The
captured data may be associated at least partially with the receipt
of sensor signals reflected off of the portion of the second ground
engaging tool positioned below the soil surface. Furthermore, the
system may include a controller communicatively coupled to the
first and second sensors. The controller may be configured to
determine a first penetration depth of the first ground engaging
tool based on the captured data received from the first sensor. The
controller may also be configured to determine a second penetration
depth of the second ground engaging tool based on the captured data
received from the second sensor. Additionally, the controller may
be configured to monitor a frame levelness associated with the
frame based on a penetration depth differential defined between the
first and second penetration depths.
[0007] In another aspect, the present subject matter is directed to
a system for monitoring the penetration depths of tools associated
with an agricultural implement. The system may include a frame and
a ground engaging tool coupled to the frame. The system may also
include a sensor configured to capture data indicative of a
position differential defined between a soil surface of the ground
and a portion of the ground engaging tool positioned below the soil
surface. The captured data may be associated at least partially
with the receipt of sensor signals reflected off of both the soil
surface and the portion of the second ground engaging tool
positioned below the soil surface. Furthermore, the system may
include a controller communicatively coupled to the sensor. The
controller may be configured to determine a first distance between
the frame and the soil surface based on the captured data received
from the sensor. The controller may further be configured to
determine a second distance between the frame and a tip of the
ground engaging tool positioned below the soil surface based on the
captured data received from the sensor. Additionally, the
controller may be configured to determine a penetration depth of
the ground engaging tool based on a differential defined between
the first and second distances.
[0008] In a further aspect, the present subject matter is directed
to a method for monitoring the frame levelness of an agricultural
implement. The implement may include a frame extending in a
longitudinal between a forward end and an aft end and in a lateral
direction between a first side and a second side. The implement may
further include first and second ground engaging tools coupled to
the frame, with the first and second ground engaging tools being
spaced apart from each other in at least one of the longitudinal
direction or the lateral direction. The method may include
determining, with a computing device, a first penetration depth of
the first ground engaging tool based on data received from a first
sensor. The first sensor may be configured to capture data
indicative of a first position differential defined between a soil
surface and a portion of the first ground engaging tool positioned
below the soil surface, with the captured data being associated at
least partially with the receipt of sensor signals reflected off of
the portion of the first ground engaging tool positioned below the
soil surface. The method may also include determining, with the
computing device, a second penetration depth of the second ground
engaging tool based on data received from a second sensor. The
second sensor may be configured to capture data indicative of a
second position differential defined between the soil surface and a
portion of the second ground engaging tool positioned below the
soil surface, with the captured data being associated at least
partially with the receipt of sensor signals reflected off of the
portion of the second ground engaging tool positioned below the
soil surface. Moreover, the method may include monitoring, with the
computing device, a frame levelness associated with the frame based
on a penetration depth differential defined between the first and
second penetration depths. Additionally, the method may include
initiating, with the computing device, a control action associated
with adjusting the frame levelness based on a magnitude of the
monitored parameter differential.
[0009] These and other features, aspects and advantages of the
present technology will become better understood with reference to
the following description and appended claims. The accompanying
drawings, which are incorporated in and constitute a part of this
specification, illustrate embodiments of the technology and,
together with the description, serve to explain the principles of
the technology.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] A full and enabling disclosure of the present technology,
including the best mode thereof, directed to one of ordinary skill
in the art, is set forth in the specification, which makes
reference to the appended figures, in which:
[0011] FIG. 1 illustrates a perspective view of one embodiment of
an agricultural implement coupled to a work vehicle in accordance
with aspects of the present subject matter;
[0012] FIG. 2 illustrates a perspective view of the agricultural
implement shown in FIG. 1, particularly illustrating various
components of the implement;
[0013] FIG. 3 illustrates a side view of one embodiment of a ground
engaging tool assembly suitable for use within the agricultural
implement shown in FIGS. 1 and 2 in accordance with aspects of the
present subject matter, particularly illustrating an actuator
configured to bias an associated ground engaging tool relative to a
frame of the implement;
[0014] FIG. 4 illustrates a schematic view of one embodiment of a
system for monitoring the frame levelness of an agricultural
implement in accordance with aspects of the present subject
matter;
[0015] FIG. 5 illustrates a side view of another embodiment of a
system for monitoring the frame levelness of an agricultural
implement in accordance with aspects of the present subject matter,
particularly illustrating the system including an actuator for
adjusting a position of a wheel relative to the implement's
frame;
[0016] FIG. 6 illustrates a side view of a further embodiment of a
system for monitoring the frame levelness of an agricultural
implement in accordance with aspects of the present subject matter,
particularly illustrating the system including an actuator for
adjusting a position of a ground engaging tool relative to the
implement's frame; and
[0017] FIG. 7 illustrates a flow diagram of one embodiment of a
method for monitoring the frame levelness of an agricultural
implement in accordance with aspects of the present subject
matter.
[0018] Repeat use of reference characters in the present
specification and drawings is intended to represent the same or
analogous features or elements of the present technology.
DETAILED DESCRIPTION
[0019] Reference now will be made in detail to embodiments of the
invention, one or more examples of which are illustrated in the
drawings. Each example is provided by way of explanation of the
invention, not limitation of the invention. In fact, it will be
apparent to those skilled in the art that various modifications and
variations can be made in the present invention without departing
from the scope or spirit of the invention. For instance, features
illustrated or described as part of one embodiment can be used with
another embodiment to yield a still further embodiment. Thus, it is
intended that the present invention covers such modifications and
variations as come within the scope of the appended claims and
their equivalents.
[0020] In general, the present subject matter is directed to
systems and methods for monitoring the frame levelness of an
agricultural implement based on monitored parameters associated
with two or more ground engaging tools of the implement.
Specifically, in several embodiments, a controller of the disclosed
system may be configured to determine the penetration depths of
first and second ground engaging tools of the implement based on an
associated position differential defined between the soil surface
and a portion of the corresponding ground engaging tool positioned
below the soil surface. For example, in one embodiment, the
controller may be configured to determine the position
differentials based on sensor data associated at least partially
with the receipt of sensor signals reflected off of the portions of
the ground engaging tools positioned below the soil surface.
Thereafter, the controller may be configured to determine a
penetration depth differential defined between the penetration
depths of the first and second ground engaging tools. Based on the
relative positioning of the first and second ground engaging tools
on the implement's frame, the penetration depth differential may,
in turn, be indicative of pitching of the frame in a longitudinal
direction and/or rolling of the frame in a lateral direction. For
example, if the penetration depth of the first ground engaging tool
is greater than the penetration depth of the first ground engaging
tool, the controller may determine that the implement frame has
pitched and/or rolled relative to a desired orientation or
levelness of the frame relative to the ground. Thus, when it is
determined that the penetration depth differential existing between
the first and second ground engaging tools exceeds a maximum
penetration depth differential threshold set for the implement or
falls below a minimum penetration depth differential threshold set
for the implement, the controller may be configured to initiate a
control action associated with adjusting the amount of pitch and/or
the roll of the frame, thereby allowing the frame orientation or
levelness relative to the ground to be adjusted. For instance, the
controller may be configured to adjust the position of one
component of the implement (e.g., a wheel of the implement)
relative to another component of the implement (e.g., the frame) to
reduce the amount of pitch and/or roll of the frame in an attempt
to correct the frame orientation or levelness.
[0021] Referring now to the drawings, FIGS. 1 and 2 illustrate
differing perspective views of one embodiment of an agricultural
implement 10 in accordance with aspects of the present subject
matter. Specifically, FIG. 1 illustrates a perspective view of the
agricultural implement 10 coupled to a work vehicle 12.
Additionally, FIG. 2 illustrates a perspective view of the
implement 10, particularly illustrating various components of the
implement 10.
[0022] In general, the implement 10 may be configured to be towed
across a field along a direction of travel 14 by the work vehicle
12. As shown, the work vehicle 12 may be configured as an
agricultural tractor having a plurality of track assemblies 16 for
use in traversing the field. It should be appreciated, however,
that the work vehicle 12 may be configured as any suitable work
vehicle, such as a wheeled vehicle. The implement 10 may be coupled
to the work vehicle 12 via a pull hitch 18 or using any other
suitable attachment means. As will be described below, the pull
hitch 18 may be coupled to a corresponding adjustable hitch
assembly (not shown) of the work vehicle 12.
[0023] In general, the implement 10 may include an implement frame
20. As shown in FIG. 2, the frame 20 may extend along a
longitudinal direction 23 between a forward end 22 and an aft end
24. The frame 20 may also extend along a lateral direction 25
between a first side 26 and a second side 28. In this respect, the
frame 20 generally includes a plurality of structural frame members
30, such as beams, bars, and/or the like, configured to support or
couple to a plurality of components. Additionally, a plurality of
wheel assemblies may be coupled to the frame 20, such as a set of
centrally located wheels 32 and a set of front pivoting wheels 34,
to facilitate towing the implement 10 in the direction of travel
14.
[0024] In several embodiments, the frame 20 may include one or more
sections. As illustrated in FIG. 2, for example, the frame 20 may
include a main section 42 positioned centrally between the first
and second sides 26, 28 of the frame 20. The frame 20 may also
include a first wing section 44 positioned proximate to the first
side 26 of the frame 20. Similarly, the frame 20 may also include a
second wing section 46 positioned proximate to the second side 28
of the frame 20. The first and second wing sections 44, 46 may be
pivotally coupled to the main section 42 of the frame 20. In this
respect, the first and second wing sections 44, 46 may be
configured to fold up relative to the main section 42 to reduce the
lateral width of the implement 10 to permit, for example, storage
or transportation of the implement on a road. In should be
appreciated that the frame 20 may include any suitable number of
wing sections.
[0025] In general, as described above, it may be desirable that the
implement frame 20 remains level or substantially level relative to
the ground. As such, the levelness of the frame 20 may be generally
defined by a pitch of the frame 20 (e.g., as indicated by arrow 41
in FIG. 2) and/or a roll (e.g., as indicated by arrow 43 in FIG. 2)
of the frame 20. More specifically, the pitch 41 of the frame 20
may be a differential in the heights of the forward and aft ends
22, 24 of the frame 20 in the longitudinal direction 23 of the
implement 10. That is, the frame 20 may be pitched when the one of
the forward or aft ends 22, 24 of the frame 20 is closer to the
ground than the other of forward or aft ends 22, 24 of the frame
20. Additionally, the roll 43 of the frame 20 may be a differential
in the heights of the first and second sides 26, 28 of frame 20 in
the lateral direction 25 of the implement 10. That is, the frame 20
may be rolled when the one of the first and second sides 26, 28 of
the frame 20 is closer to the ground than the other of first and
second sides 26, 28 of the frame 20.
[0026] In one embodiment, the frame 20 may be configured to support
a cultivator 36, which may be configured to till or otherwise break
the soil over which the implement 10 travels to create a seedbed.
In this respect, the cultivator 36 may include a plurality of
ground engaging tools 38, which are pulled through the soil as the
implement 10 moves across the field in the direction of travel 14.
As will be discussed in greater detail below, the ground engaging
tools 38 may be configured to be pivotally mounted to the frame 20
to allow the ground engaging tools 38 to pivot out of the way of
rocks or other impediments in the soil. As shown, the ground
engaging tools 38 may be arranged into a plurality of ranks 40,
which are spaced apart from one another along the longitudinal
direction 23 between the forward end 22 and the aft end 24 of the
frame 20. Furthermore, within each of the ranks 40, the ground
engaging tools 38 may be spaced apart from one another along the
lateral direction 25 between the first side 26 and the second side
28 of the frame 20.
[0027] For example, as shown in FIG. 2, in one embodiment, the
implement 10 may include ground engaging tools 38A, 38B, 38C. More
specifically, the ground engaging tools 38A, 38B, 38C may be spaced
apart from one another along the lateral direction 25 of the
implement 10 between the first side 26 and the second side 28 of
the frame 20. In addition, one or more of the ground engaging tools
38, such tool 38B, may be spaced apart from the ground engaging
tools 38A, 38C along the longitudinal direction 23 of the implement
10. Furthermore, the ground engaging tool 38B may be coupled to the
main section 42 of the frame 20, while the ground engaging tool 38A
may be coupled to the first wing section 44 of the frame 20 and the
ground engaging tool 38C may be coupled to second wing 46 of the
frame 20. However, it should be appreciated that, in alternative
embodiments, the implement 10 may include any other suitable
arrangement of ground engaging tools 38.
[0028] Moreover, as shown in FIGS. 1 and 2, the implement 10 may
also include one or more harrows 48. As is generally understood,
the harrows 48 may be configured to be pivotally coupled to the
frame 20. The harrows 48 may include a plurality of ground engaging
elements 50, such as tines or spikes, which are configured to level
or otherwise flatten any windrows or ridges in the soil created by
the cultivator 36. Specifically, the ground engaging elements 50
may be configured to be pulled through the soil as the implement 10
moves across the field in the direction of travel 14. It should be
appreciated that the implement 10 may include any suitable number
of harrows 48. In fact, some embodiments of the implement 10 may
not include any harrows 48.
[0029] Moreover, in one embodiment, the implement 10 may optionally
include one or more baskets or rotary firming wheels 52. As is
generally understood, the baskets 52 may be configured to reduce
the number of clods in the soil and/or firm the soil over which the
implement 10 travels. As shown, each basket 52 may be configured to
be pivotally coupled to one of the harrows 48. Alternately, the
baskets 52 may be configured to be pivotally coupled to the frame
20 or any other suitable location of the implement 10. It should be
appreciated that the implement 10 may include any suitable number
of baskets 52. In fact, some embodiments of the implement 10 may
not include any baskets 52.
[0030] It should be appreciated that the configuration of the
implement 10 described above and shown in FIGS. 1 and 2 is provided
only to place the present subject matter in an exemplary field of
use. Thus, it should be appreciated that the present subject matter
may be readily adaptable to any manner of implement configuration.
For example, in one embodiment, the implement 10 may be configured
as a disk harrow.
[0031] Referring now to FIG. 3, a perspective view of one
embodiment of a ground engaging tool assembly 100 is illustrated in
accordance with aspects of the present subject matter. In general,
the assembly 100 will be described herein with reference to the
implement 10 described above with reference to FIGS. 1 and 2.
However, it should be appreciated by those of ordinary skill in the
art that the disclosed assembly 100 may generally be utilized with
implements having any other suitable implement configuration, such
as a disk harrow.
[0032] As shown in FIG. 3, the ground engaging tool assembly 100
may include one of the ground engaging tools 38 described above
with reference to FIGS. 1 and 2. More specifically, the ground
engaging tool 38 may generally include a shank portion 102
configured to be pivotally coupled to the frame 20 (e.g., at pivot
joint 104) and a ground-engaging portion 106 extending from the
shank portion 102 along a curved or arcuate profile. The
ground-engaging portion 106 may include a tip 108 that is
configured to penetrate into or otherwise engage the ground as the
implement 10 is being pulled through the field. In the illustrated
embodiment, the ground engaging tool 38 is configured as a chisel.
However, one of ordinary skill in the art would appreciate that the
ground engaging tool 38 may be configured as a sweep, tine, or any
other suitable ground engaging tool.
[0033] The assembly 100 may also include an actuator 110 coupled
between the frame 20 and the ground engaging tool 38. In this
respect, the actuator 110 may be configured to bias the ground
engaging tool 38 to a predetermined tool position (e.g., a home or
base position) relative to the frame 20. In general, the
predetermined tool position may correspond to a tool position in
which the ground engaging tool 38 penetrates the soil or ground to
a desired depth. In several embodiments, the predetermined ground
engaging tool position may be set by a mechanical stop 114. In
operation, the actuator 110 may permit relative movement between
the ground engaging tool 38 and the frame 20. For example, the
actuator 110 may be configured to bias the ground engaging tool 38
to pivot relative to the frame 20 in a first pivot direction (e.g.,
as indicated by arrow 116 in FIG. 3) until an end 118 of the shank
portion 102 of the ground engaging tool 38 contacts the stop 114.
The actuator 110 may also allow the ground engaging tool 38 to
pivot away from the predetermined tool position (e.g., to a
shallower depth of penetration), such as in a second pivot
direction (e.g., as indicated by arrow 120 in FIG. 3) opposite the
first pivot direction 116, when encountering rocks or other
impediments in the field.
[0034] It should be appreciated that the actuator 110 may be
configured as any suitable type of actuator configured to bias the
tool 38 relative to the frame 20. For example, in several
embodiments, the actuator 110 may be configured as suitable
fluid-driven actuators, such as suitable hydraulic or pneumatic
cylinders. However, in alternative embodiments, the actuator 110
may be configured as any other suitable type of actuators, such as
electric linear actuators. Additionally, in a further embodiment,
the implement 10 may include a spring (not shown) configured to
bias the tool 38 relative to the frame 20 in lieu of the actuator
110.
[0035] In accordance with aspects of the present subject matter,
the assembly 100 may also include a sensor 122 configured to emit
one or more sensor signals (e.g., as indicated by arrow 124 in FIG.
3) directed toward a portion 126 of the ground engaging tool 38
position below the soil surface 128. As such, a first portion of
the sensor signal(s) 124 may be reflected off of the soil surface
128 as a first return signal(s) (e.g., as indicated by arrow 130 in
FIG. 3). Furthermore a second portion of the sensor signal(s) 124
may penetrate the soil surface 128 and be reflected off of the
portion 126 of the tool 38 as a second return signal(s) 132 (e.g.,
as indicated by arrow 132 in FIG. 3). Moreover, the sensor 122 may
be configured to receive the first and second return signal(s) 130,
132. As will be described below, the signals 124, 130, 132 may then
be analyzed to determine the penetration depth (e.g., as indicated
by arrow 112 in FIG. 3) of the tool 38. As shown in FIG. 3, in
several embodiments, the sensor 122 may be coupled to the frame 20
at a location forward of the ground engaging tool 38 relative to
the direction of travel 14. For example, in the illustrated
embodiment, the sensor 122 is directly mounted to the bottom side
of one of the frame members 30. However, it should be appreciated
that the sensor 122 may be mounted and/or positioned at any other
suitable location on the implement 10 at which the sensor 122 may
emit the sensor signal(s) 124 toward the portion 126 of the ground
engaging tool 38.
[0036] Additionally, it should be appreciated that the sensor 122
may generally configured to emit any suitable type of sensor
signal(s) 124. For example, in one embodiment, the sensor signal(s)
124 may correspond to one or more radio wave signals. In such
embodiment, the sensor 122 may correspond to a radio detection and
ranging (RADAR) sensor. However, in alternative embodiments, the
sensor signal(s) 124 may correspond to one or more gamma ray
signals and/or one or more x-ray signals.
[0037] As indicated above, FIG. 3 simply illustrates a single
ground engaging tool 38 of the implement 10, with the sensor 122
being provided to monitor the penetration depth of such ground
engaging tool 38. However, a person of ordinary skill in the art
will appreciate that any or all of the remaining ground engaging
tools 38 of the disclosed implement 10 may similarly be provided in
operative association with an associated sensor 122. For example,
as will be described below with reference to FIG. 4, a
corresponding sensor 122 may be provided in operative association
with each ground engaging tool 38A, 38B, 38C.
[0038] It should be appreciated that the configuration of the
ground engaging tool assembly 100 described above and shown in FIG.
3 is provided only to place the present subject matter in an
exemplary field of use. Thus, it should be appreciated that the
present subject matter may be readily adaptable to any manner of
ground engaging tool assembly configuration.
[0039] Referring now to FIG. 4, a schematic view of one embodiment
of a system 200 for monitoring the frame levelness of an
agricultural implement is illustrated in accordance with aspects of
the present subject matter. In general, the system 200 will be
described herein with reference to the implement 10 and the ground
engaging tool assemblies 100 described above with reference to
FIGS. 1-3. However, it should be appreciated by those of ordinary
skill in the art that the disclosed system 200 may generally be
utilized with ground engaging tool assemblies having any other
suitable tool assembly configuration and/or implements having any
other suitable implement configuration.
[0040] As shown in FIG. 4, the system 200 may include a plurality
of the ground engaging tool assemblies 100 coupled to the frame 20
of the implement 10. For example, in one embodiment, the system 200
may include ground engaging tool assemblies 100 incorporating the
ground engaging tools 38A, 38B, 38C described above with associated
sensors 122. However, it should be appreciated by those of ordinary
skill in the art that the system 200 may include ground engaging
tool assemblies 100 corresponding to any of the ground engaging
tools 38 of the implement 10. Additionally, it should be
appreciated that, although the system 200 is generally described
herein with reference to a specific set of ground engaging tools
38A, 38B, 38C, the system 200 may generally include ground engaging
tool assemblies 100 provided in association with any suitable
ground engaging tool(s), including any of the other ground engaging
tools shown and described above, such as the ground engaging
elements 50 associated with the harrows 48, the rotary firming
wheels 52, and/or any other ground engaging tools to be coupled to
an implement frame 20.
[0041] Furthermore, the system 200 may also include a controller
202 configured to electronically control the operation of one or
more components of the implement 10 or the work vehicle 12. In
general, the controller 202 may comprise any suitable
processor-based device known in the art, such as a computing device
or any suitable combination of computing devices. Thus, in several
embodiments, the controller 202 may include one or more
processor(s) 204 and associated memory device(s) 206 configured to
perform a variety of computer-implemented functions. As used
herein, the term "processor" refers not only to integrated circuits
referred to in the art as being included in a computer, but also
refers to a controller, a microcontroller, a microcomputer, a
programmable logic controller (PLC), an application specific
integrated circuit, and other programmable circuits. Additionally,
the memory device(s) 206 of the controller 202 may generally
comprise memory element(s) including, but not limited to, a
computer readable medium (e.g., random access memory (RAM)), a
computer readable non-volatile medium (e.g., a flash memory), a
floppy disk, a compact disc-read only memory (CD-ROM), a
magneto-optical disk (MOD), a digital versatile disc (DVD) and/or
other suitable memory elements. Such memory device(s) 206 may
generally be configured to store suitable computer-readable
instructions that, when implemented by the processor(s) 204,
configure the controller 202 to perform various
computer-implemented functions, such as one or more aspects of the
method 300 described below with reference to FIG. 7. In addition,
the controller 202 may also include various other suitable
components, such as a communications circuit or module, one or more
input/output channels, a data/control bus and/or the like.
[0042] It should be appreciated that the controller 202 may
correspond to an existing controller of the implement 10 or the
work vehicle 12 or the controller 202 may correspond to a separate
processing device. For instance, in one embodiment, the controller
202 may form all or part of a separate plug-in module that may be
installed within the implement 10 or the work vehicle 12 to allow
for the disclosed system and method to be implemented without
requiring additional software to be uploaded onto existing control
devices of the implement 10 or the work vehicle 12.
[0043] Furthermore, in one embodiment, the system 200 may include
an operational parameter sensor 207 provided in operative
association with the implement 10. In this regard, the operational
parameter sensor 207 may be configured to detect a first
operational parameter of the implement 10. For example, the first
operational parameter may be the location of the implement 10
within the field, the speed at which the implement 10 is moved
across the field, the position of the actuator 110 (e.g., the
position of a rod of the actuator 110 relative to a cylinder of the
actuator 110), a fluid pressure within the actuator 110, or any
other suitable parameter indicative of the operation of the
implement 10. As such, the operational parameter sensor 207 may
correspond to any suitable type of sensing device, such as a
location sensor (e.g., a GNSS-based sensor), a Hall Effect sensor,
a linear potentiometer, or a fluid pressure sensor.
[0044] Additionally, in one embodiment, the system 200 may also
include a user interface 208. Specifically, the user interface 208
may be communicatively coupled to the controller 202 via a wired or
wireless connection to allow feedback signals (e.g., as indicated
by dashed line 210 in FIG. 4) to be transmitted from the controller
202 to the user interface 208. As such, the user interface 202 may
be configured to provide feedback to the operator of the implement
10 based on the feedback signals 210. In addition, the user
interface 102 may include one or more feedback devices (not shown),
such as display screens, speakers, warning lights, and/or the like,
which are configured to communicate such feedback. In addition,
some embodiments of the user interface 208 may include one or more
input devices (not shown), such as touchscreens, keypads,
touchpads, knobs, buttons, sliders, switches, mice, microphones,
and/or the like, which are configured to receive user inputs from
the operator. In one embodiment, the user interface 208 may be
positioned within an operator's cab (not shown) of the work vehicle
12. However, in alternative embodiments, the user interface 208 may
have any suitable configuration and/or be positioned in any other
suitable location.
[0045] In several embodiments, the system 200 may be configured to
sense a first distance (e.g., as indicated by arrow 134 in FIG. 3)
defined between a given reference point (e.g., the implement frame
20) and the soil surface 128 and a second distance (e.g., as
indicated by arrow 136 in FIG. 3) defined between such reference
point (e.g., the implement frame 20) and the tip 108 of the ground
engaging tool 38. More specifically, as indicated above, the system
200 may include a plurality of sensors (e.g., the sensors 122 shown
in FIG. 4), with each sensor being configured to emit sensor
signal(s) 124 toward the portion 126 of the corresponding ground
engaging tool 38 located beneath the soil surface 128. Thereafter,
the sensor 102 may be configured to receive or detect the
associated first and second return signals 130, 132 corresponding
to the emitted sensor signal(s) 122 as reflected off of the soil
surface 128 and the portion 126 of the corresponding tool 38,
respectively. As such, the first return signal(s) 130 may be
indicative of the first distance 134 defined between the reference
point and the soil surface 128. For example, in one embodiment, a
time duration or time-of-flight (TOF) defined between when the
sensor signal(s) 124 is emitted by the sensor 122 and the first
return signal(s) 130 is received by the sensor 122 may be
indicative of the first distance 134. Similarly, the second return
signal(s) 132 may be indicative of the second distance 136 between
the reference point and the tip 108 of the corresponding tool 38.
For example, in one embodiment, a time duration or time-of-flight
(TOF) defined between when the sensor signal(s) 124 is emitted by
the sensor 122 and the second return signal(s) 132 is received by
the sensor 122 may be indicative of the second distance 136.
However, it should be appreciated that, in alternative embodiments,
the first and second distances 134, 136 may be determined based on
any other suitable characteristic(s) of the sensor signal(s) 124
and/or the associated first and second return signals 130, 132.
[0046] Furthermore, in several embodiments, the controller 202 may
be configured to monitor the penetration depths of the ground
engaging tools 38A, 38B, 38C based on data received from the
various sensors 122. Specifically, the controller 202 may be
communicatively coupled to the sensors 122 provided in operative
association with the ground engaging tools 38A, 38B, 38C via a
wired or wireless connection to allow data (e.g., indicated by
dashed lines 212 in FIG. 4) to be transmitted from the sensors 122
to the controller 202. In general, the sensor data 212 received
from each sensor 122 may be indicative of one or more
characteristics of the sensor signal(s) 124 emitted by that sensor
122 and the first and second return signals 130, 132 received by
that sensor 122. As such, the controller 202 may be configured to
determine or estimate the first distance 134 defined between the
reference point and the soil surface 128 adjacent to at least two
of the ground engaging tools 38A, 38B, 38C based on the sensor
signal(s) 124 and the first return signal(s) 130. Furthermore, the
controller 202 may be configured to determine or estimate the
second distance 136 between the reference point and the
corresponding tip 108 of at least two of the ground engaging tools
38A, 38B, 38C based on the sensor signal(s) 124 and the second
return signal(s) 132. For instance, the controller 202 may include
a look-up table or suitable mathematical formula stored within its
memory 206 that correlates the sensor measurements (e.g., TOF data)
to the first and second distances 134, 136. Thereafter, the
controller 202 may then be configured to compare the current first
and second distances 134, 136 associated with two or more of the
ground engaging tools 38A, 38B, 38C to determine the corresponding
penetration depths 112 to of ground engaging tools 38A, 38B,
38C.
[0047] Moreover, the controller 202 may be configured to monitor
the frame levelness associated with the implement frame 20 based on
the penetration depths 112 of at least two of the ground engaging
tools 38A, 38B, 38C. Specifically, the controller 202 may be
configured to compare the determined penetration depths 112 of at
least two of the ground engaging tools 38A, 38B, 38C to monitor a
penetration depth differential defined therebetween. Thereafter,
the controller 202 may be configured to compare the monitored
penetration depth differential to a maximum penetration depth
differential threshold set for the implement 10. In the event that
the monitored penetration depth differential exceeds the maximum
penetration depth differential threshold, the controller 202 may be
configured to determine that the implement frame 20 is not
sufficiently level, such as when the frame 20 is pitched and/or
rolled.
[0048] As indicated above, the ground engaging tools 38A, 38B, 38C
may be laterally spaced apart from each other across the implement
10. In such instances, a differential in the monitored penetration
depths 112 between two or more of the ground engaging tools 38A,
38B, 38C may be indicative of roll or rolling of the implement
frame 20 in the lateral direction 25 of the implement 10 (e.g., the
frame 20 has rolled in one direction or the other laterally such
that the first and second sides 26, 28 of the frame 20 are at
different heights relative to the ground). For example, in certain
instances, if the penetration depth differential between two or
more of the laterally spaced apart ground engaging tools 38A, 38B,
38C is too great, the frame 20 of the implement 10 may be rolled or
angled relative to the ground such that the penetration depths 112
of the laterally spaced ground-engaging tools 38A, 38B, 38C varies
undesirably. Accordingly, in several embodiments, the controller
202 may be configured to compare the penetration depth differential
determined to exist between two or more of the laterally spaced
ground engaging tools 38A, 38B, 38C to a predetermined maximum
penetration depth differential threshold set for the implement 10.
In such embodiments, the maximum penetration depth differential
threshold may correspond to a penetration depth differential
between two or more laterally spaced ground engaging tools 38A,
38B, 38C that, when exceeded, is indicative of an undesirable
amount of roll or rolling of the frame 20, thereby indicating that
the levelness or orientation of the implement frame 20 may need to
be adjusted or corrected across the lateral direction 25 of the
implement 10.
[0049] Additionally, as indicated above, the ground engaging tools
38A, 38B, 38C may be longitudinally spaced apart from each other
across the implement 10. In such instances, a differential in the
monitored penetration depths 112 between two or more of the ground
engaging tools 38A, 38B, 38C may be indicative of pitch or pitching
of the implement frame 20 in the longitudinal direction 23 of the
implement 10 (e.g., the frame 20 has pitched in one direction or
the other longitudinally such that the forward and aft ends 22, 24
of the frame 20 are at different heights relative to the ground).
For example, in certain instances, if the penetration depth
differential between two or more of the longitudinally spaced apart
ground engaging tools 38A, 38B, 38C is too great, the frame 20 of
the implement 10 may be pitched or angled relative to the ground
such that the penetration depths 112 of the longitudinally spaced
ground-engaging tools 38A, 38B, 38C varies undesirably.
Accordingly, in several embodiments, the controller 202 may be
configured to compare the penetration depth differential determined
to exist between two or more of the longitudinally spaced ground
engaging tools 38A, 38B, 38C to a predetermined maximum penetration
depth differential threshold set for the implement 10. In such
embodiments, the maximum penetration depth differential threshold
may correspond to a penetration depth differential between two or
more longitudinally spaced ground engaging tools 38A, 38B, 38C
that, when exceeded, is indicative of an undesirable amount of
pitch or pitching of the frame 20, thereby indicating that the
levelness or orientation of the implement frame 20 may need to be
adjusted or corrected across the longitudinal direction 23 of the
implement 10.
[0050] Furthermore, in one embodiment, the controller 202 may be
configured to monitor a second operational parameter of the
implement 10 based on the first operational parameter and/or at
least one of the monitored penetration depths of the ground
engaging tools 38A, 38B, 38C. In general, the second operational
parameter may be any operational parameter of the implement 10 that
is different than the first operational parameter. For example, in
one embodiment, when the first operational parameter corresponds to
the fluid pressure within the actuator 110, the second operational
parameter may correspond to the density of the soil. As shown in
FIG. 4, the controller 202 may be communicatively coupled to the
operational parameter sensor 207 via a wired or wireless connection
to allow data (e.g., indicated by dashed lines 213 in FIG. 4) to be
transmitted from the operational parameter sensor 207 to the
controller 202. As such, the controller 202 may be configured to
determine or estimate the second operational parameter based on the
data 212 received from the sensor(s) 122 and/or the data 213
received from the operational parameter sensor 207. For instance,
the controller 202 may include a look-up table or suitable
mathematical formula stored within its memory 206 that correlates
the sensor data 212, 213 to the second operational parameter.
[0051] In accordance with aspects of the present subject matter,
when the parameter differential determined by the controller 202
exceeds the predetermined parameter differential threshold set for
the implement 10, the controller 202 may be configured initiate a
control action associated with adjusting the pitch and/or the roll
of the frame 20, thereby correcting the levelness of the implement
frame 20. For instance, in one embodiment, the controller 202 may
be configured to transmit a notification to the operator of the
implement 10 (e.g., by causing a visual or audible notification or
indicator to be presented to the operator within the work vehicle
12 via the user interface 208) that provides an indication that the
penetration depth differential between at least two of the ground
engaging tools 38A, 38B, 38C exceeds the penetration depth
differential threshold, such as by providing a notification that
the frame 20 is not level in the longitudinal direction 23 and/or
the lateral direction 25 due to pitching and/or rolling of the
frame 20. In such instances, the operator may then choose to
initiate any suitable corrective action he/she believes is
necessary, such as by manually adjusting the position of the wheels
32 relative to the frame 20 or by manually controlling the
operation of one or more components of the implement 10 in a manner
designed to reorient the frame 20 relative to the ground.
Additionally, in one embodiment, the controller 202 may be
configured to generate a field map that visually identifies the
levelness of the field across each portion of the field traversed
by the implement 10 based on the penetration depths differential
between at least two of the ground engaging tools 38A, 38B, 38C.
Alternatively, as will be described below with reference to FIGS. 8
and 9, the controller 202 may be configured to automatically
control the operation of one or more components of the implement 10
in a manner designed to adjust the pitch and/or the roll of the
frame 20.
[0052] FIG. 5 illustrates a side view of an implementation of the
system 200 described above with reference to FIG. 4 in accordance
with aspects of the present subject matter. Specifically, the
embodiment shown in FIG. 5 illustrates an example configuration
that may be used for adjusting the relative positioning of one or
more components of the implement 10 so as to allow the pitch and/or
the roll of the frame 20 to be adjusted when it is determined that
an undesirable penetration depth differential exists between two or
more of the ground engaging tools 38A, 38B, 38C of the implement
10. For example, FIG. 5 illustrates a side view of an actuator 214
configured for adjusting a position of one of the wheels 32, 34 of
the implement 10 relative to the frame 20 of the implement 10. It
should be appreciated that, in the illustrated embodiment of FIG.
5, the actuator 214 corresponds to a hydraulic cylinder. However,
it should be appreciated that the actuator 214 may also correspond
to any other suitable actuator, such as a pneumatic actuator,
linear actuator, or a solenoid.
[0053] In several embodiments, the wheels 32, 34 may be configured
to be pivotable or otherwise moveable relative to the frame 20 of
the implement 10 so as to permit one or more associated actuators
214 to adjust the position of the wheels 32, 34 relative to the
frame 20. In such embodiments, when the penetration depth
differential between two laterally spaced apart ground engaging
tools 38A, 38B, 38C exceeds the associated penetration depth
differential, the position of the wheels 32, 34 relative to the
frame 20 may be adjusted so as to adjust the orientation the frame
20 in the lateral direction 25.
[0054] As shown in FIG. 5, in one embodiment, one end of the
actuator 214 may be pivotably coupled to one of the frame members
30 of the frame 20 at a pivot joint 54. Similarly, an opposed end
of the actuator 214 may also be coupled to a pivot arm 56 of the
implement 10 at a pivot joint 58. As shown, the pivot arm 56 may,
in turn, pivotably couple the wheel 32, 34 to the corresponding
frame member 30 of the frame 20 at a pivot joint 60. As such, the
pivot joints 54, 58, 60 may allow relative pivotable movement
between the frame member 30, the pivot arm 56, and the actuator
214, thereby allowing the position of the associated wheel 32, 34
relative to the frame 20 to be adjusted. However, a person of
ordinary skill in the art would appreciate that the wheels 32, 34
may be adjustably coupled to the frame 20 in any suitable manner
that permits the actuator 214 to move the wheels 32, 34 relative to
the frame 20. Furthermore, the actuator 214 may be configured to
move any of the wheels 32, 34 on the implement 10 relative to the
frame 20.
[0055] As indicated above, the actuator 214 may correspond to a
suitable hydraulic actuator. Thus, in several embodiments, the
actuator 214 may include both a cylinder 216 configured to house a
piston 218 and a rod 220 coupled to the piston 218 that extends
outwardly from the cylinder 216. Additionally, the actuator 214 may
include a piston-side chamber 222 and a rod-side chamber 224
defined within the cylinder 216. As is generally understood, by
regulating the pressure of the fluid supplied to one or both of the
cylinder chambers 222, 224, the actuation of the rod 220 may be
controlled. As shown in FIG. 5, in the illustrated embodiment, the
end of the rod 220 is coupled to the arm 56 at the pivot joint 58,
while the cylinder 216 is coupled to the frame member 30 at the
opposed pivot joint 54. However, in an alternative embodiment, the
end of the rod 220 may be coupled to the frame member 30 at pivot
joint 54 while the cylinder 216 may be coupled to the arm 56 at the
pivot joint 58.
[0056] In several embodiments, the system 200 may also include a
suitable pressure regulating valve 226 (PRV) (e.g., a
solenoid-activated valve or a manually operated valve) configured
to regulate a supply of fluid (e.g., hydraulic fluid or air from a
suitable fluid source or tank 228) being supplied to the actuator
214. As shown in FIG. 5, in one embodiment, the PRV 226 may be in
fluid communication with the rod-side chamber 224 of the actuator
214. In this respect, the system 200 may include a fluid conduit
230, such as the illustrated hose, that fluidly couples the PRV 226
to a fitting 232 on the cylinder 216. As such, the PRV 226 may
regulate the supply fluid to the rod-side chamber 224. It should be
appreciated that, in alternate embodiments, the PRV 226 may be in
fluid communication with the piston-side chamber 222 to regulate
the supply fluid thereto. Alternatively, the system 200 may include
a pair of PRVs 226, with each PRV 226 being in fluid communication
with one of the chambers 222, 224 of the actuator 214.
[0057] Utilizing the system configuration shown in FIG. 5, the
controller 202 may be configured to automatically control the
operation of the actuator 214 so as to adjust the position of the
wheels 32, 34 relative to the frame 20. Specifically, as indicated
above, the controller 202 may be configured to detect when the
penetration depth differential between two or more of the ground
engaging tools 38A, 38B, 38C exceeds an associated predetermined
penetration depth differential threshold. In such instance, the
controller 202 may be configured to electronically control
operation of the PRV 226 to adjust the fluid pressure supplied
within the actuator 214. For instance, the controller 202 may be
configured to control the operation of the PRV 226 (e.g., via
controls signals indicated by dashed line 234 in FIG. 5) such that
the fluid pressure supplied to the rod-side chamber 224 of the
actuator 214 is increased or decreased when it is detected that the
parameter differential exceeds the associated parameter
differential threshold. Increasing the fluid pressure within the
rod-side chamber 224 may cause the rod 220 to retract into the
cylinder 216, thereby moving the wheel 32, 34 closer to the frame
20. Conversely, decreasing the fluid pressure within the rod-side
chamber 224 may cause the rod 220 to extend further from the
cylinder 216, thereby moving the wheel 32, 34 farther away to the
frame 20. Pivoting the wheel 32,34 upward relative to the frame 20
(e.g., if a portion of the frame 20 proximate to that wheel 32, 34
is farther from the ground than the portion of the frame 20
proximate to another of wheels 32, 34) or pivoting the wheels 32,
34 downward relative to the frame 20 (e.g., if a portion of the
frame 20 proximate to that wheel 32, 34 is closer from the ground
than the portion of the frame 20 proximate to another wheels 32,
34) may, for example, allow for a corresponding reduction in the
roll of the frame 20.
[0058] Referring now to FIG. 6, a side view of another
implementation of the system 200 described above with reference to
FIG. 4 is illustrated in accordance with aspects of the present
subject matter. Specifically, the embodiment shown in FIG. 6
illustrates an example configuration that may be used for adjusting
the penetration depths of one or more of the ground engaging tools
38 so as to maintain a uniform penetration depth across two of more
of the tools 38 when it is determined that an undesirable
penetration depth differential exists between such tools 38.
[0059] As indicated above, in one embodiment, an actuator 110 may
be coupled between the frame 20 and the ground engaging tool 38,
with the actuator 110 being configured to permit relative movement
between the ground engaging tool 38 and the frame 20. Specifically,
as shown, one end of the actuator 110 may be pivotably coupled to
one of the frame members 30 of the frame 20 at a pivot joint 62.
Similarly, an opposed end of the actuator 110 may also be coupled
to the ground engaging tool 38 at a pivot joint 64. As indicated
above, the tool 38 may be pivotably coupled to a frame member 30 of
the frame 20 at the pivot joint 104. In this regard, the pivot
joints 62, 64, 102 may allow relative pivotable movement between
the frame member 30, the tool 38, and the actuator 214, thereby
allowing the position of the tool 38 relative to the frame 20 to be
adjusted. However, a person of ordinary skill in the art would
appreciate that the tool 38 may be adjustably coupled to the frame
20 in any suitable manner that permits the actuator 110 to move the
tool 38 relative to the frame 20. Furthermore, the actuator 110 may
be configured to move any of the tools 38 on the implement 10
relative to the frame 20.
[0060] Utilizing the system configuration shown in FIG. 6, the
controller 202 may be configured to automatically control the
operation of the actuator 110 so as to adjust the position of the
ground engaging tool 38 relative to the frame 20. Specifically, as
indicated above, the controller 202 may be configured to detect
when the penetration depth differential between two or more of the
ground engaging tools 38A, 38B, 38C exceeds an associated
predetermined penetration depth differential threshold. In such
instance, the controller 202 may be configured to electronically
control operation of the PRV 226 to adjust the fluid pressure
supplied within the actuator 110. For instance, the controller 202
may be configured to control the operation of the PRV 226 (e.g.,
via controls signals indicated by dashed line 234 in FIG. 5) such
that the fluid pressure supplied to the rod-side chamber 146 of the
actuator 110 is increased or decreased when it is detected that the
parameter differential exceeds the associated parameter
differential threshold. Increasing the fluid pressure within the
rod-side chamber 146 may cause the rod 142 to retract into the
cylinder 138, thereby moving the ground engaging tool relative to
the frame such that its penetration depth 112 is decreased.
Conversely, decreasing the fluid pressure within the rod-side
chamber 146 may cause the rod 142 to extend further from the
cylinder 138, thereby moving the ground engaging tool 38 relative
to the frame 20 such that its penetration depth 112 is increased.
Adjusting the penetration depth 112 of the ground engaging tools 38
may permit a uniform penetration depth for two or more of the
ground engaging tools 38 mounted on the implement 10 despite the
implement frame 20 being pitched and/or rolled. It should be
appreciated that, in one embodiment, the magnitude of the
adjustment of the penetration depth 112 of the ground engaging tool
38 may be based on the magnitude of the determined penetration
depth differential.
[0061] Referring now to FIG. 7, a flow diagram of one embodiment of
a method 300 for monitoring the frame levelness of an agricultural
implement is illustrated in accordance with aspects of the present
subject matter. In general, the method 300 will be described herein
with reference to the implement 10, the ground engaging tool
assemblies 100, and the system 200 described above with reference
to FIGS. 1-6. In addition, although FIG. 7 depicts steps performed
in a particular order for purposes of illustration and discussion,
the methods discussed herein are not limited to any particular
order or arrangement. One skilled in the art, using the disclosures
provided herein, will appreciate that various steps of the methods
disclosed herein can be omitted, rearranged, combined, and/or
adapted in various ways without deviating from the scope of the
present disclosure.
[0062] As shown in FIG. 7, at (302), the method 300 may include
determining, with a computing device, a first penetration depth of
a first ground engaging tool based on data received from a first
sensor. For instance, as described above, the controller 202 may be
communicatively coupled to one of sensors 122 configured to capture
data 212 indicative of the penetration depth 112 of one of the
ground engaging tools 38A, 38B, 38C. As such, data 212 transmitted
from the sensors 122 may be received by the controller 108 and
subsequently analyzed and/or processed to determine the penetration
depth 112 of such tool 38A, 38B, 38C.
[0063] Additionally, at (304), the method 300 may include
determining, with the computing device, a second penetration depth
of a second ground engaging tool based on data received from a
second sensor. For instance, as described above, the controller 202
may be communicatively coupled to one or more other sensors 122
configured to capture data 212 indicative of the penetration depth
112 of another of the ground engaging tools 38A, 38B, 38C. As such,
data 212 transmitted from the sensors 122 may be received by the
controller 108 and subsequently analyzed and/or processed to
determine the penetration depth 112 of such tool 38A, 38B, 38C.
[0064] Moreover, as shown in FIG. 7, at (306), the method 300 may
include monitoring, with the computing device, a frame levelness
associated with the frame based on a penetration depth differential
defined between the first and second penetration depths. For
instance, the controller 202 may be configured to compare the
current penetration depth values associated with at least two of
the ground engaging tools 38A, 38B, 38C to determine the
penetration depth differential existing therebetween.
[0065] Furthermore, at (308), the method 300 may include
initiating, with the computing device, a control action when the
monitored penetration depth differential exceeds the maximum
penetration depth differential threshold. As indicated above, the
controller 202 may be configured to monitor the penetration depth
differential relative to an associated maximum penetration depth
differential threshold. In the event that the penetration depth
differential exceeds the penetration depth differential threshold,
the controller 202 may then implement a control action to adjust
the associated roll and/or pitch of the frame 20 as determined by
the penetration depth differential currently existing between the
corresponding ground engaging tools 38A, 38B, 38C. As described
above, such control actions may, in several embodiments, include
controlling one or more components of the implement 10. For
instance, the controller 202 may, in one embodiment, be configured
to control one or more operator-interface components located within
the work vehicle's cab (e.g., the user interface 208) to allow a
visual and/or audible notification to be presented to the operator.
In addition, or as an alternative thereto, the controller 202 may
be configured to actively regulate the pressure of the fluid
supplied within an associated actuator 214 (e.g., by electronically
controlling the associated PRV 226) to adjust the relative
position(s) between various components of the implement 10 and/or
the relative position(s) between the implement 10 and the work
vehicle 12. For example, in one embodiment, the actuator 214 may
adjust the position of one or more of the wheels 32, 34 relative to
the implement frame 20.
[0066] This written description uses examples to disclose the
technology, including the best mode, and also to enable any person
skilled in the art to practice the technology, including making and
using any devices or systems and performing any incorporated
methods. The patentable scope of the technology is defined by the
claims, and may include other examples that occur to those skilled
in the art. Such other examples are intended to be within the scope
of the claims if they include structural elements that do not
differ from the literal language of the claims, or if they include
equivalent structural elements with insubstantial differences from
the literal language of the claims.
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